/*
 * Author: Jon Trulson <jtrulson@ics.com>
 * Copyright (c) 2015 Intel Corporation.
 *
 * Permission is hereby granted, free of charge, to any person obtaining
 * a copy of this software and associated documentation files (the
 * "Software"), to deal in the Software without restriction, including
 * without limitation the rights to use, copy, modify, merge, publish,
 * distribute, sublicense, and/or sell copies of the Software, and to
 * permit persons to whom the Software is furnished to do so, subject to
 * the following conditions:
 *
 * The above copyright notice and this permission notice shall be
 * included in all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
 * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
 * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */

#include <iostream>

#include "uln200xa.hpp"
#include "upm_utilities.h"

using namespace std;

int
main()
{
    //! [Interesting]

    // Instantiate a Stepper motor on a ULN200XA Darlington controller.

    // This was tested with the Grove Gear Stepper Motor with Driver

    // Wire the pins so that I1 is pin D8, I2 is pin D9, I3 is pin D10 and
    // I4 is pin D11
    upm::ULN200XA uln200xa(4096, 8, 9, 10, 11);

    uln200xa.setSpeed(5);
    uln200xa.setDirection(ULN200XA_DIR_CW);
    cout << "Rotating 1 revolution clockwise." << endl;
    uln200xa.stepperSteps(4096);
    cout << "Sleeping for 2 seconds..." << endl;
    upm_delay(2);
    cout << "Rotating 1/2 revolution counter clockwise." << endl;
    uln200xa.setDirection(ULN200XA_DIR_CCW);
    uln200xa.stepperSteps(2048);

    // turn off the power
    uln200xa.release();

    //! [Interesting]
    cout << "Exiting..." << endl;

    return 0;
}
